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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#include <stdio.h>
//#define USE_QUADS //Use quad mesh instead of a triangle mesh
//#define USE_HULL //Use the convex hulls of the rings
#include <SOLID.h>
#include "MT_Point3.h"
#include "MT_Vector3.h"
#include "MT_Quaternion.h"
const MT_Scalar SPACE_SIZE = 20.0;
const int NUM_ITER = 10000;
const int NUM_OBJECTS = 2;
typedef struct MyObject {
int id;
MT_Point3 pos;
DT_ObjectHandle objectHandle;
} MyObject;
/* ARGSUSED */
DT_Bool collide1(void * client_data, void *obj1, void *obj2,
const DT_CollData *coll_data)
{
return DT_CONTINUE;
}
/* ARGSUSED */
DT_Bool collide2(void * client_data, void *obj1, void *obj2,
const DT_CollData *coll_data)
{
FILE *stream = (FILE *)client_data;
fprintf(stream, "Aha!, Object %d interferes with object %d\n",
(*(MyObject *)obj1).id, (*(MyObject *)obj2).id);
return DT_CONTINUE;
}
#ifdef STATISTICS
extern int num_box_tests;
#endif
int main()
{
MyObject objects[NUM_OBJECTS];
int i;
for (i = 0; i != NUM_OBJECTS; ++i)
{
objects[i].id = i;
objects[i].pos.setValue(MT_random() * SPACE_SIZE, MT_random() * SPACE_SIZE, MT_random() * SPACE_SIZE);
}
#ifdef USE_HULL
DT_ShapeHandle shape = DT_NewPolytope(0);
#else
DT_ShapeHandle shape = DT_NewComplexShape(0);
#endif
MT_Scalar a = 10;
MT_Scalar b = 2;
fprintf(stderr, "Loading a torus with a major radius of %d and a minor radius of %d,\n", (int)a, (int)b);
const int n1 = 50;
const int n2 = 50;
#ifdef USE_QUADS
fprintf(stderr, "composed of %d quads...",n1 * n2); fflush(stderr);
#else
fprintf(stderr, "composed of %d triangles...", 2 * n1 * n2); fflush(stderr);
#endif
int uc;
for (uc = 0; uc < n1; uc++)
{
int vc;
for (vc = 0; vc < n2; vc++)
{
MT_Scalar u1 = (MT_2_PI * uc) / n1;
MT_Scalar u2 = (MT_2_PI * (uc+1)) / n1;
MT_Scalar v1 = (MT_2_PI * vc) / n2;
MT_Scalar v2 = (MT_2_PI * (vc+1)) / n2;
MT_Scalar p1[3], p2[3], p3[3], p4[3];
p1[0] = (a - b * MT_cos(v1)) * MT_cos(u1);
p2[0] = (a - b * MT_cos(v1)) * MT_cos(u2);
p3[0] = (a - b * MT_cos(v2)) * MT_cos(u1);
p4[0] = (a - b * MT_cos(v2)) * MT_cos(u2);
p1[1] = (a - b * MT_cos(v1)) * MT_sin(u1);
p2[1] = (a - b * MT_cos(v1)) * MT_sin(u2);
p3[1] = (a - b * MT_cos(v2)) * MT_sin(u1);
p4[1] = (a - b * MT_cos(v2)) * MT_sin(u2);
p1[2] = b * MT_sin(v1);
p2[2] = b * MT_sin(v1);
p3[2] = b * MT_sin(v2);
p4[2] = b * MT_sin(v2);
#ifdef USE_QUADS
DT_Begin();
DT_Vertex(p1);
DT_Vertex(p2);
DT_Vertex(p4);
DT_Vertex(p3);
DT_End();
#else
DT_Begin();
DT_Vertex(p1);
DT_Vertex(p2);
DT_Vertex(p3);
DT_End();
DT_Begin();
DT_Vertex(p4);
DT_Vertex(p1);
DT_Vertex(p2);
DT_End();
#endif
}
}
fprintf(stderr, "done.\n");
#ifdef USE_HULL
fprintf(stderr, "Building convex hull..."); fflush(stderr);
DT_EndPolytope();
#else
fprintf(stderr, "Building hierarchy..."); fflush(stderr);
DT_EndComplexShape();
#endif
fprintf(stderr, "done.\n");
DT_SceneHandle scene = DT_CreateScene();
DT_RespTableHandle respTable = DT_CreateRespTable();
DT_ResponseClass responseClass = DT_GenResponseClass(respTable);
for (i = 0; i != NUM_OBJECTS; ++i)
{
objects[i].objectHandle = DT_CreateObject(&objects[i], shape);
DT_AddObject(scene, objects[i].objectHandle);
DT_SetResponseClass(respTable, objects[i].objectHandle, responseClass);
}
DT_AddDefaultResponse(respTable, &collide1, DT_SIMPLE_RESPONSE, stdout);
int col_count = 0;
printf("Running %d tests on %d objects at random placements\n", NUM_ITER, NUM_OBJECTS);
printf("in a space of size %.0f...\n", SPACE_SIZE);
int k;
for (k = 0; k != NUM_ITER; ++k)
{
for (i = 0; i != NUM_OBJECTS; ++i)
{
objects[i].pos.setValue(MT_random() * SPACE_SIZE,
MT_random() * SPACE_SIZE,
MT_random() * SPACE_SIZE);
DT_SetPosition(objects[i].objectHandle, objects[i].pos);
DT_SetOrientation(objects[i].objectHandle, MT_Quaternion::random());
}
col_count += DT_Test(scene, respTable);
//fprintf(stderr, "."); fflush(stderr);
}
printf("done\n");
std::cout << "Number of collisions: " << col_count << std::endl;
#ifdef STATISTICS
std::cout << "Number of sep_axis calls: " << num_box_tests << std::endl;
#endif
for (i = 0; i != NUM_OBJECTS; ++i)
{
DT_RemoveObject(scene, objects[i].objectHandle);
DT_DestroyObject(objects[i].objectHandle);
}
DT_DestroyRespTable(respTable);
DT_DestroyScene(scene);
DT_DeleteShape(shape);
return 0;
}
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